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<div class="title">edge_aware_plane_comparator.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id: extract_clusters.h 5027 2012-03-12 03:10:45Z rusu $</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_EDGE_AWARE_PLANE_COMPARATOR_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_EDGE_AWARE_PLANE_COMPARATOR_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/boost.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/plane_coefficient_comparator.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html">   55</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html">EdgeAwarePlaneComparator</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">PlaneCoefficientComparator</a>&lt;PointT, PointNT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Comparator&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Comparator&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;EdgeAwarePlaneComparator&lt;PointT, PointNT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const EdgeAwarePlaneComparator&lt;PointT, PointNT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::input_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::normals_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::plane_coeff_d_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::angular_threshold_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::distance_threshold_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::depth_dependent_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::z_axis_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#acd6c80be13cba20e2e0f7639160bfe49">   77</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#acd6c80be13cba20e2e0f7639160bfe49">EdgeAwarePlaneComparator</a> () :</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        distance_map_threshold_ (5),</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        curvature_threshold_ (0.04f),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        euclidean_distance_threshold_ (0.04f)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#aed4611a19ef0b65c1d31f33a9be933c7">   87</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#aed4611a19ef0b65c1d31f33a9be933c7">EdgeAwarePlaneComparator</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> *distance_map) : </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        distance_map_ (distance_map),</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        distance_map_threshold_ (5),</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        curvature_threshold_ (0.04f),</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        euclidean_distance_threshold_ (0.04f)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#a1c869d8def0d8c6e41f7c232e348bd73">   97</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#a1c869d8def0d8c6e41f7c232e348bd73">~EdgeAwarePlaneComparator</a> ()</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#a6f3ea2c2c74327615e94fdbcfa851eff">  106</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#a6f3ea2c2c74327615e94fdbcfa851eff">setDistanceMap</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> *distance_map)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        distance_map_ = distance_map;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#a32b8af9f38c4635eda8ca3ec6952112c">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#a32b8af9f38c4635eda8ca3ec6952112c">getDistanceMap</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordflow">return</span> (distance_map_);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#a664f5732262b82e52bce95e08f3a73b3">  122</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#a664f5732262b82e52bce95e08f3a73b3">setCurvatureThreshold</a> (<span class="keywordtype">float</span> curvature_threshold)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        curvature_threshold_ = curvature_threshold;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#a5ad08c007818ccc42f155d65c06b87d8">  129</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#a5ad08c007818ccc42f155d65c06b87d8">getCurvatureThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordflow">return</span> (curvature_threshold_);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#a48afc61c76930afae739e88922741623">  138</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#a48afc61c76930afae739e88922741623">setDistanceMapThreshold</a> (<span class="keywordtype">float</span> distance_map_threshold)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        distance_map_threshold_ = distance_map_threshold;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#af665d01b90a7fe493ed0696a6c6788e1">  145</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#af665d01b90a7fe493ed0696a6c6788e1">getDistanceMapThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">return</span> (distance_map_threshold_);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#a9ee71b9bc821c5119f3fae52c3b1e980">  154</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#a9ee71b9bc821c5119f3fae52c3b1e980">setEuclideanDistanceThreshold</a> (<span class="keywordtype">float</span> euclidean_distance_threshold)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        euclidean_distance_threshold_ = euclidean_distance_threshold;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#a0b94fce5b4e586de8577a271d596e5d1">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#a0b94fce5b4e586de8577a271d596e5d1">getEuclideanDistanceThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordflow">return</span> (euclidean_distance_threshold_);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1_edge_aware_plane_comparator.html#a0fdf9045443f85231e870e05915875a7">  172</a></span>&#160;      <a class="code" href="classpcl_1_1_edge_aware_plane_comparator.html#a0fdf9045443f85231e870e05915875a7">compare</a> (<span class="keywordtype">int</span> idx1, <span class="keywordtype">int</span> idx2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="comment">// Note: there are two distance thresholds here that make sense to scale with depth.</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="comment">// dist_threshold is on the perpendicular distance to the plane, as in plane comparator</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="comment">// We additionally check euclidean distance to ensure that we don&#39;t have neighboring coplanar points</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="comment">// that aren&#39;t close in euclidean space (think two tables separated by a meter, viewed from an angle</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="comment">// where the surfaces are adjacent in image space).</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordtype">float</span> dist_threshold = distance_threshold_;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keywordtype">float</span> euclidean_dist_threshold = euclidean_distance_threshold_;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordflow">if</span> (depth_dependent_)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          Eigen::Vector3f vec = input_-&gt;points[idx1].getVector3fMap ();</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          <span class="keywordtype">float</span> z = vec.dot (z_axis_);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          dist_threshold *= z * z;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          euclidean_dist_threshold *= z * z;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordtype">float</span> dx = input_-&gt;points[idx1].x - input_-&gt;points[idx2].x;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keywordtype">float</span> dy = input_-&gt;points[idx1].y - input_-&gt;points[idx2].y;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordtype">float</span> dz = input_-&gt;points[idx1].z - input_-&gt;points[idx2].z;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keywordtype">float</span> dist = std::sqrt (dx*dx + dy*dy + dz*dz);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordtype">bool</span> normal_ok = (normals_-&gt;points[idx1].getNormalVector3fMap ().dot (normals_-&gt;points[idx2].getNormalVector3fMap () ) &gt; angular_threshold_ );</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordtype">bool</span> dist_ok = (dist &lt; euclidean_dist_threshold);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keywordtype">bool</span> curvature_ok = normals_-&gt;points[idx1].curvature &lt; curvature_threshold_;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keywordtype">bool</span> plane_d_ok = fabs ((*plane_coeff_d_)[idx1] - (*plane_coeff_d_)[idx2]) &lt; dist_threshold;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keywordflow">if</span> (distance_map_[idx1] &lt; distance_map_threshold_)    </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          curvature_ok = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordflow">return</span> (dist_ok &amp;&amp; normal_ok &amp;&amp; curvature_ok &amp;&amp; plane_d_ok);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span>* distance_map_;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keywordtype">int</span> distance_map_threshold_;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keywordtype">float</span> curvature_threshold_;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keywordtype">float</span> euclidean_distance_threshold_;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  };</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;}</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html">pcl::EdgeAwarePlaneComparator</a></div><div class="ttdoc">EdgeAwarePlaneComparator is a Comparator that operates on plane coefficients, for use in planar segme...</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_a0b94fce5b4e586de8577a271d596e5d1"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#a0b94fce5b4e586de8577a271d596e5d1">pcl::EdgeAwarePlaneComparator::getEuclideanDistanceThreshold</a></div><div class="ttdeci">float getEuclideanDistanceThreshold() const</div><div class="ttdoc">Get the euclidean distance threshold.</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_a0fdf9045443f85231e870e05915875a7"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#a0fdf9045443f85231e870e05915875a7">pcl::EdgeAwarePlaneComparator::compare</a></div><div class="ttdeci">bool compare(int idx1, int idx2) const</div><div class="ttdoc">Compare two neighboring points, by using normal information, curvature, and euclidean distance inform...</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_a1c869d8def0d8c6e41f7c232e348bd73"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#a1c869d8def0d8c6e41f7c232e348bd73">pcl::EdgeAwarePlaneComparator::~EdgeAwarePlaneComparator</a></div><div class="ttdeci">virtual ~EdgeAwarePlaneComparator()</div><div class="ttdoc">Destructor for PlaneCoefficientComparator.</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_a32b8af9f38c4635eda8ca3ec6952112c"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#a32b8af9f38c4635eda8ca3ec6952112c">pcl::EdgeAwarePlaneComparator::getDistanceMap</a></div><div class="ttdeci">const float * getDistanceMap() const</div><div class="ttdoc">Return the distance map used.</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_a48afc61c76930afae739e88922741623"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#a48afc61c76930afae739e88922741623">pcl::EdgeAwarePlaneComparator::setDistanceMapThreshold</a></div><div class="ttdeci">void setDistanceMapThreshold(float distance_map_threshold)</div><div class="ttdoc">Set the distance map threshold – the number of pixel away from a border / nan</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_a5ad08c007818ccc42f155d65c06b87d8"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#a5ad08c007818ccc42f155d65c06b87d8">pcl::EdgeAwarePlaneComparator::getCurvatureThreshold</a></div><div class="ttdeci">float getCurvatureThreshold() const</div><div class="ttdoc">Get the curvature threshold.</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_a664f5732262b82e52bce95e08f3a73b3"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#a664f5732262b82e52bce95e08f3a73b3">pcl::EdgeAwarePlaneComparator::setCurvatureThreshold</a></div><div class="ttdeci">void setCurvatureThreshold(float curvature_threshold)</div><div class="ttdoc">Set the curvature threshold for creating a new segment</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_a6f3ea2c2c74327615e94fdbcfa851eff"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#a6f3ea2c2c74327615e94fdbcfa851eff">pcl::EdgeAwarePlaneComparator::setDistanceMap</a></div><div class="ttdeci">void setDistanceMap(const float *distance_map)</div><div class="ttdoc">Set a distance map to use. For an example of a valid distance map see OrganizedIntegralImageNormalEst...</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_a9ee71b9bc821c5119f3fae52c3b1e980"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#a9ee71b9bc821c5119f3fae52c3b1e980">pcl::EdgeAwarePlaneComparator::setEuclideanDistanceThreshold</a></div><div class="ttdeci">void setEuclideanDistanceThreshold(float euclidean_distance_threshold)</div><div class="ttdoc">Set the euclidean distance threshold.</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_acd6c80be13cba20e2e0f7639160bfe49"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#acd6c80be13cba20e2e0f7639160bfe49">pcl::EdgeAwarePlaneComparator::EdgeAwarePlaneComparator</a></div><div class="ttdeci">EdgeAwarePlaneComparator()</div><div class="ttdoc">Empty constructor for PlaneCoefficientComparator.</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_aed4611a19ef0b65c1d31f33a9be933c7"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#aed4611a19ef0b65c1d31f33a9be933c7">pcl::EdgeAwarePlaneComparator::EdgeAwarePlaneComparator</a></div><div class="ttdeci">EdgeAwarePlaneComparator(const float *distance_map)</div><div class="ttdoc">Empty constructor for PlaneCoefficientComparator.</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1_edge_aware_plane_comparator_html_af665d01b90a7fe493ed0696a6c6788e1"><div class="ttname"><a href="classpcl_1_1_edge_aware_plane_comparator.html#af665d01b90a7fe493ed0696a6c6788e1">pcl::EdgeAwarePlaneComparator::getDistanceMapThreshold</a></div><div class="ttdeci">float getDistanceMapThreshold() const</div><div class="ttdoc">Get the distance map threshold (in pixels).</div><div class="ttdef"><b>Definition:</b> edge_aware_plane_comparator.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_coefficient_comparator_html"><div class="ttname"><a href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator</a></div><div class="ttdoc">PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...</div><div class="ttdef"><b>Definition:</b> plane_coefficient_comparator.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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